Granted Patent B2

US 10,729,503 · App. 15/570,286 · Granted Aug 4, 2020

Abstract

Claims (77)

1. A method of operating a robotic control system comprising a master apparatus in communication with a plurality of input devices including respective handles capable of translational and rotational movement and a slave system including a tool positioning device corresponding to each respective handle, each tool positioning device holding a respective tool including an end effector whose position and orientation is determined in response to a position and an orientation of the corresponding handle, the method comprising:

by at least one processor circuit associated with the master apparatus, producing desired new end effector positions and desired new end effector orientations of the respective end effectors in response to current positions and current orientations of the corresponding respective handles;

by the at least one processor circuit, determining a plurality of distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device using the desired new end effector positions and the desired new end effector orientations;

by the at least one processor circuit, determining that any of the distances meets a proximity criterion;

by the at least one processor circuit, generating notification signals for notifying an operator of the handles associated with respective tool positioning devices that one or more of the plurality of distances meets the proximity criterion;

by the at least one processor circuit, generating control signals for disabling movement of all tool positioning devices associated with the one or more of the plurality of distances that meets the proximity criterion; and

by the at least one processor circuit, causing transmission of the control signals to respective slave systems associated with the tool positioning devices, each of the control signals identifying a previous position and a previous orientation of the respective end effectors when the proximity criterion is met and each of the control signals identifying a current end effector position and a current end effector orientation based on a current position and a current orientation of the corresponding handle when the proximity criterion is not met.

2. A non-transitory computer readable medium encoded with codes for directing a processor circuit to execute the method of claim 1 .

3. An apparatus for use in a robotic control system, the apparatus in communication with a plurality of input devices including respective handles capable of translational and rotational movement and the robotic control system comprising a slave system including a tool positioning device corresponding to each respective handle, each tool positioning device holding a respective tool including an end effector whose position and orientation is determined in response to a position and an orientation of the corresponding handle, the apparatus comprising:

means for producing desired new end effector positions and desired new end effector orientations of the respective end effectors in response to current positions and current orientations of the corresponding respective handles;

means for determining a plurality of distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device based on the desired new end effector positions and desired new end effector orientations;

means for determining that any of the plurality of distances meets a proximity criterion;

means for generating notification signals for notifying an operator of the handles associated with respective tool positioning devices that one or more of the plurality of distances meets the proximity criterion;

means for generating control signals for disabling movement of all tool positioning devices associated with the one or more of the plurality of distances that meets the proximity criterion; and

means for causing transmission of the control signals to respective slave systems associated with the tool positioning devices, each of the control signals identifying a previous position and a previous orientation of the respective end effectors when the proximity criterion is met and each of the control signals identifying a current end effector position and a current end effector orientation based on a current position and a current orientation of the corresponding handle when the proximity criterion is not met.

4. The apparatus of claim 3 wherein each of the tool positioning devices includes a plurality of segments, each of the plurality of segments comprised of a plurality of vertebrae and wherein at least some of the points in each of the plurality of points of the respective tool positioning device are points on a respective segment or a vertebrae of a segment.

5. The apparatus of claim 4 further comprising means for computing vectors to points along each tool positioning device from a reference point associated with the tool positioning device to a point on a segment of the plurality of segments of the tool positioning device based on the desired new end effector position and orientation calculated for the end effector associated with the tool positioning device.

6. The apparatus of claim 5 further comprising means for computing a position of at least one vertebrae associated with the segment based on the position of the point on the segment.

7. An apparatus for use in a robotic control system, the apparatus in communication with a plurality of input devices including respective handles capable of translational and rotational movement and a slave system including a tool positioning device corresponding to each respective handle, each tool positioning device holding a respective tool including an end effector whose position and orientation is determined in response to a position and an orientation of the corresponding handle, the apparatus comprising at least one processor circuit configured to:

produce desired new end effector positions and desired new end effector orientations of the respective end effectors in response to current positions and current orientations of the corresponding respective handles;

using the desired new end effector positions and the desired new end effector orientations, determine a plurality of distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device;

determine that any of the plurality of distances meets a proximity criterion;

generate notification signals for notifying an operator of the handles associated with respective tool positioning devices that one or more of the plurality of distances meets the proximity criterion;

generate control signals for disabling movement of all tool positioning devices associated with the one or more of the plurality of distances that meets the proximity criterion; and

cause transmission of the control signals to respective slave systems associated with the tool positioning devices, each of the control signals identifying a previous position and a previous orientation of the respective end effectors when the proximity criterion is met and each of the control signals identifying a current end effector position and a current end effector orientation based on a current position and a current orientation of the corresponding handle when the proximity criterion is not met.

8. The apparatus of claim 7 wherein the at least one processor circuit is further configured to generate signals for causing the handles associated with the tool positioning devices associated with the one or more of the plurality of distances that meets the proximity criterion to present haptic feedback to the operator, the haptic feedback impeding movement of the handles in a direction that would shorten the one or more of the plurality of distances that meets the proximity criterion.

9. The apparatus of claim 7 , wherein the at least one processor circuit is configured to generate notification signals for notifying the operator by producing annunciation signals for causing an annunciator to annunciate that the proximity criterion has been met.

10. The apparatus of claim 9 wherein the annunciation signals include display control signals for causing a display to depict a visual representation indicative of the one or more of the plurality of distances that meets the proximity criterion.

11. The apparatus of claim 9 wherein the annunciation signals include audio control signals for causing an audio device to provide an audible sound indicative of the one or more of the plurality of distances that meets the proximity criterion.

12. The apparatus of claim 7 wherein the at least one processor circuit is further configured to generate signals for enabling movement of the tool positioning devices associated with the one or more of the plurality of distances that meet the proximity criterion when the proximity criterion is no longer met.

13. The apparatus of claim 7 wherein the at least one processor circuit is configured to produce the desired new end effector position and the desired new end effector orientation by:

receiving from each input device current handle position signals ( MCURR ) and current handle orientation signals (R MCURR ) representing a current position and a current orientation respectively of the handle of the corresponding input device; and

producing, for corresponding tool positioning devices, new end effector position signals ( EENEW ) and new end effector orientation signals (R EENEW ) defining the desired new end effector position and the desired new end effector orientation, respectively, of the end effector in response to the corresponding current handle position signals ( MCURR ) and the current handle orientation signals (R MCURR ).

14. The apparatus of claim 13 wherein the at least one processor circuit is configured to periodically receive the current handle position signals and the current handle orientation signals.

15. The apparatus of claim 7 wherein the at least one processor circuit is configured to receive an enablement signal controlled by the operator and to detect a change in state of the enablement signal, and wherein, in response to the change being detected, the processor circuit is further configured to:

store the current handle position signals ( MCURR ) and the current handle orientation signals (R MCURR ) as master base position signals ( MBAS ) and master base orientation signals (R MBASE ) respectively; and

store the new end effector position signals ( EENEW ) and the new end effector orientation signals (R EENEW ) as end effector base position signals ( EEBASE ) and end effector base orientation signals (R EEBASE ) respectively.

16. The apparatus of claim 15 wherein the at least one processor circuit is configured to compute the new end effector position signals ( EENEW ) and the new end effector orientation signals (R EENEW ) according to:

P

_

EENEW

=

A

⁡

(

P

_

MCURR

-

P

_

MBASE

)

+

P

_

EEBASE

;

and

R

EENEW

=

R

EEBASE

⁢

R

MBASE

-

1

⁢

R

MCURR

,

wherein A is a scalar value representing a scaling factor in translational motion between a master system and the slave system.

17. The apparatus of claim 7 wherein each of the tool positioning devices includes a plurality of segments, each of the plurality of segments comprised of a plurality of vertebrae and wherein at least some of the points in each of the plurality of points of the respective tool positioning device are points on a respective segment or a vertebrae of a segment.

18. The apparatus of claim 17 wherein the at least one processor circuit is configured to, for each tool positioning device, compute vectors from a reference point associated with the tool positioning device to a point on a segment of the plurality of segments of the tool positioning device based on the desired end effector position calculated for the end effector associated with the tool positioning device.

19. The apparatus of claim 18 wherein the at least one processor circuit is configured to compute a position of at least one vertebrae associated with the segment based on the position of the point on the segment.

Assignments (6)